{"id":"https://openalex.org/W4389667242","doi":"https://doi.org/10.1109/iros55552.2023.10341489","title":"Design and Development of a Rapidly Deployable Low-Cost Tensegrity In-Pipe Robot","display_name":"Design and Development of a Rapidly Deployable Low-Cost Tensegrity In-Pipe Robot","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389667242","doi":"https://doi.org/10.1109/iros55552.2023.10341489"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10341489","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341489","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100621839","display_name":"Yixiang Liu","orcid":"https://orcid.org/0000-0002-6217-7093"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]},{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yixiang Liu","raw_affiliation_strings":["School of Control Science and Engineering, Shandong University,Jinan,China,250061","State Key Laboratory of Mechanical Transmissions, Chongqing University, Chongqing, China","Zhejiang Key Laboratory of Intelligent Operation and Maintenance Robot, Hangzhou Shenhao Technology Co., Ltd, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University,Jinan,China,250061","institution_ids":["https://openalex.org/I154099455"]},{"raw_affiliation_string":"State Key Laboratory of Mechanical Transmissions, Chongqing University, Chongqing, China","institution_ids":["https://openalex.org/I158842170"]},{"raw_affiliation_string":"Zhejiang Key Laboratory of Intelligent Operation and Maintenance Robot, Hangzhou Shenhao Technology Co., Ltd, Hangzhou, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053870321","display_name":"Xiaolin Dai","orcid":"https://orcid.org/0000-0001-5563-0403"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaolin Dai","raw_affiliation_strings":["School of Control Science and Engineering, Shandong University,Engineering Research Center of Intelligent Unmanned System of Ministry of Education,Jinan,China,250061"],"affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University,Engineering Research Center of Intelligent Unmanned System of Ministry of Education,Jinan,China,250061","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081599861","display_name":"Kai Guo","orcid":"https://orcid.org/0000-0002-3451-7732"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kai Guo","raw_affiliation_strings":["School of Mechanical Engineering, Shandong University,Jinan,China,250061"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shandong University,Jinan,China,250061","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101278789","display_name":"Jiang Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiang Wu","raw_affiliation_strings":["School of Control Science and Engineering, Shandong University,Engineering Research Center of Intelligent Unmanned System of Ministry of Education,Jinan,China,250061"],"affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University,Engineering Research Center of Intelligent Unmanned System of Ministry of Education,Jinan,China,250061","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113852285","display_name":"Rui Song","orcid":"https://orcid.org/0000-0002-4119-4433"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rui Song","raw_affiliation_strings":["School of Control Science and Engineering, Shandong University,Engineering Research Center of Intelligent Unmanned System of Ministry of Education,Jinan,China,250061"],"affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University,Engineering Research Center of Intelligent Unmanned System of Ministry of Education,Jinan,China,250061","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069459810","display_name":"Jie Zhao","orcid":"https://orcid.org/0000-0002-6086-9387"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Zhao","raw_affiliation_strings":["Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China,150080"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China,150080","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100724411","display_name":"Yibin Li","orcid":"https://orcid.org/0000-0002-5906-5074"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yibin Li","raw_affiliation_strings":["School of Control Science and Engineering, Shandong University,Engineering Research Center of Intelligent Unmanned System of Ministry of Education,Jinan,China,250061"],"affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University,Engineering Research Center of Intelligent Unmanned System of Ministry of Education,Jinan,China,250061","institution_ids":["https://openalex.org/I154099455"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5100621839"],"corresponding_institution_ids":["https://openalex.org/I154099455","https://openalex.org/I158842170"],"apc_list":null,"apc_paid":null,"fwci":0.1332,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.44111168,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"4696","last_page":"4701"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11870","display_name":"Structural Analysis and Optimization","score":0.9947999715805054,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9939000010490417,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/tensegrity","display_name":"Tensegrity","score":0.9943535923957825},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.8052499294281006},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.7028932571411133},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.6747964024543762},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.49348676204681396},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4740723669528961},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.44220927357673645},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43946072459220886},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.43134206533432007},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35827523469924927},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1979190707206726}],"concepts":[{"id":"https://openalex.org/C182950735","wikidata":"https://www.wikidata.org/wiki/Q1930978","display_name":"Tensegrity","level":2,"score":0.9943535923957825},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8052499294281006},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.7028932571411133},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.6747964024543762},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.49348676204681396},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4740723669528961},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.44220927357673645},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43946072459220886},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.43134206533432007},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35827523469924927},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1979190707206726},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros55552.2023.10341489","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341489","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.44999998807907104,"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9"}],"awards":[{"id":"https://openalex.org/G1899753224","display_name":null,"funder_award_id":"ZR2020QE152","funder_id":"https://openalex.org/F4320324174","funder_display_name":"Natural Science Foundation of Shandong Province"},{"id":"https://openalex.org/G1986299718","display_name":null,"funder_award_id":"52005293","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4112298798","display_name":null,"funder_award_id":"SKLMT-MSKFKT-202118","funder_id":"https://openalex.org/F4320321135","funder_display_name":"Chongqing University"},{"id":"https://openalex.org/G6167318694","display_name":null,"funder_award_id":"MSV202304","funder_id":"https://openalex.org/F4320327024","funder_display_name":"State Key Laboratory of Mechanical System and Vibration"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321135","display_name":"Chongqing University","ror":"https://ror.org/023rhb549"},{"id":"https://openalex.org/F4320324174","display_name":"Natural Science Foundation of Shandong Province","ror":null},{"id":"https://openalex.org/F4320327024","display_name":"State Key Laboratory of Mechanical System and Vibration","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1975053573","https://openalex.org/W2135446023","https://openalex.org/W2157893028","https://openalex.org/W2416506485","https://openalex.org/W2542475276","https://openalex.org/W2909043882","https://openalex.org/W2951184982","https://openalex.org/W2973637924","https://openalex.org/W3008958515","https://openalex.org/W3011121822","https://openalex.org/W3036302049","https://openalex.org/W3104152360","https://openalex.org/W3184442406","https://openalex.org/W3185441269","https://openalex.org/W3200626400","https://openalex.org/W3209955306","https://openalex.org/W4211248062","https://openalex.org/W4213419218","https://openalex.org/W4214821834","https://openalex.org/W4221023221","https://openalex.org/W4221140959","https://openalex.org/W4280570373","https://openalex.org/W4283031983","https://openalex.org/W4308709079","https://openalex.org/W4313026672"],"related_works":["https://openalex.org/W227057133","https://openalex.org/W2480265123","https://openalex.org/W2345199500","https://openalex.org/W2090167696","https://openalex.org/W2382222318","https://openalex.org/W3142983119","https://openalex.org/W2040728928","https://openalex.org/W1974778898","https://openalex.org/W4387399830","https://openalex.org/W1994643058"],"abstract_inverted_index":{"Existing":[0],"in-pipe":[1],"robots":[2],"have":[3],"insufficient":[4],"adaptability":[5],"when":[6],"dealing":[7],"with":[8],"accidents":[9],"in":[10,132,176,182,186],"unfamiliar":[11],"pipe":[12,16,72],"environments.":[13],"Developing":[14],"a":[15,32,65,83,119,153],"robot":[17,69,124,173],"that":[18,169],"can":[19,75],"be":[20,76],"designed":[21,92,152],"and":[22,43,56,129,144,163,184],"manufactured":[23,77],"quickly":[24],"is":[25,31,91,108,125,174],"one":[26],"solution.":[27],"The":[28],"tensegrity":[29,68,89,123,149,172],"structure":[30,35,90],"self-stressing":[33],"spatial":[34],"formed":[36],"by":[37,60,94],"the":[38,48,88,95,102,106,112,116,122,139,148,170],"interaction":[39],"of":[40,50,98,105,115,121,147,155],"rigid":[41],"members":[42],"flexible":[44],"cables,":[45],"which":[46,74],"has":[47],"advantages":[49],"simple":[51,128,175],"structure,":[52,62,177],"good":[53,185],"flexibility,":[54],"deformability,":[55],"impact":[57],"resistance.":[58],"Inspired":[59],"this":[61],"we":[63,151],"design":[64,103],"novel":[66],"worm-like":[67,99,171],"for":[70],"different":[71],"environments,":[73],"rapidly":[78],"at":[79],"low":[80,181],"cost.":[81],"Firstly,":[82],"robotic":[84],"module":[85,107],"based":[86,110],"on":[87,111,157],"inspired":[93],"motion":[96,140],"patterns":[97],"organisms.":[100],"Then,":[101],"process":[104],"presented":[109],"mathematical":[113],"analysis":[114],"deformation.":[117],"Finally,":[118],"prototype":[120],"developed":[126],"using":[127],"low-cost":[130],"parts":[131],"less":[133],"than":[134],"an":[135],"hour.":[136],"To":[137],"test":[138],"performance,":[141,143],"load":[142],"inspection":[145],"capability":[146],"robot,":[150],"series":[154],"experiments":[156],"horizontal":[158],"pipes,":[159,161],"vertical":[160],"elbows,":[162],"steel":[164],"pipes.":[165],"Experimental":[166],"results":[167],"show":[168],"easy":[178],"to":[179],"manufacture,":[180],"cost,":[183],"performance.":[187]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}